Kind of Naive about Sperm and Pregnancy

so i realize this question is going to sound stupid, but feel free to call me an id**t because I'd rather hear that. 

When I was with my boyfriend the other night I may have gotten a TINY amount of sperm on my hands, and then as I was laying down I would have rubbed it on the blankets I was on, and then he held that hand and then fingered me. I am now petrified this could have gotten me pregnant? 

I have read up on how unlikely this is... i just ended my period december 8th-10th ish. Since my hands were dry and he never actually touched semen, and his hands were dry and he only held my hand that this is unlikely but I would like to hear if it's actually possible based on what I described. Again it was like the tiniest amount on my hand, which was rubbed off, and then he held my hand, and then fingered me (all clothes on too if this happens to make any sort of difference). I have read this is HIGHLY unlikely, so... yeah wanted to check haha 

if anyone can reassure me here I would appreciate it! 

thanks!